沈阳航空航天大学学报2024，Vol.41Issue(5)：54-61,8.DOI:10.3969/j.issn.2095-1248.2024.05.006
基于全连接神经网络的GNSS/INS组合定位方法
GNSS/INS integrated positioning method based on fully connected neural network
摘要
Abstract
As a navigation solution with higher accuracy and better robustness compared to single navi-gation systems,GNSS/INS integrated navigation has been widely applied in various carriers.Aiming at the problem of the satellite navigation signal interruption caused by environmental obstruction or elec-tromagnetic interference to reduce the accuracy of integrated positioning,GNSS/INS integrated naviga-tion positioning method by a fully connected neural network(FCNN)was proposed.This method con-sisted of training and prediction modules.Under normal GNSS signal conditions,the me-thod utilized the position and velocity information calculated by INS and the position and velocity information out-put by the integrated navigation to train the FCNN model.When the GNSS signals were interrupted or fail,the pre-trained FCNN model was used to predict the navigation solutions.Experimental data was employed to validate the proposed method.The results indicate that the GNSS/INS based on FCNN inte-grated navigation method proposed in this study effectively suppresses the divergence of single INS po-sitioning errors,thereby improving the accuracy and availability of GNSS/INS integra-ted positioning results when the GNSS signals are interrupted.关键词
全球导航卫星系统/惯性导航系统/信号中断/组合导航/全连接神经网络Key words
global navigation satellite system/inertial navigation system/signal interruption/integra-ted navigation/fully connected neural network分类
信息技术与安全科学引用本文复制引用
王尔申,刘依凡,于腾丽,杨健,刘达,张树宁,易静怡,李昕..基于全连接神经网络的GNSS/INS组合定位方法[J].沈阳航空航天大学学报,2024,41(5):54-61,8.基金项目
国家自然科学基金(项目编号:62173237) （项目编号:62173237）
嵩山实验室预研项目(项目编号:YYJC062022017) （项目编号:YYJC062022017）
辽宁省科技厅应用基础研究计划项目(项目编号:2022020502-JH2/1013,2022JH2/101300150) （项目编号:2022020502-JH2/1013,2022JH2/101300150）
沈阳市科技局项目(项目编号:22-322-3-34) （项目编号:22-322-3-34）
辽宁省教育厅重点攻关项目(项目编号:LJKZZ20220031) （项目编号:LJKZZ20220031）
